%% Create 
Accel1 = outlog(:,1:3);
Gyro1 = rad2deg(outlog(:,4:6));
Accel2 = outlog(:,7:9);
Gyro2 = rad2deg(outlog(:,10:12));
Gyro2 = [Gyro2(:,1)-20 Gyro2(:,2)-19 Gyro2(:,3)+18];
PWM = outlog(:,13);

%% 
figure(1), plot([Accel1(:,1) Accel2(:,1)]); legend('AccX1','AccX2'); grid
figure(2), plot([Accel1(:,2) Accel2(:,2)]); legend('AccY1','AccY2'); grid
figure(3), plot([Accel1(:,3) Accel2(:,3)]); legend('AccZ1','AccZ2'); grid
figure(4), plot([Gyro1(:,1) Gyro2(:,1)]); legend('GyroX1','GyroX2'); grid
figure(5), plot([Gyro1(:,2) Gyro2(:,2)]); legend('GyroY1','GyroY2'); grid
figure(6), plot([Gyro1(:,3) Gyro2(:,3)]); legend('GyroZ1','GyroZ2'); grid

%% deltas
%figure(7), plot(Gyro1(:,1)-Gyro2(:,1)); grid
%figure(8), plot(Gyro1(:,2)-Gyro2(:,2)); grid
%figure(9), plot(Gyro1(:,3)-Gyro2(:,3)); grid

%% PWM
figure(10), plot(PWM); grid
